Bench reference
It holds technical procedures and measurements used while repairing the robots, so it is written in shorthand rather than plain language. Nothing here needs your attention.
Calibration records · versioned
Deviation is the only calibration that survives a power cycle, and the robot is the only place it lives. Record it before you change it, so a bad adjustment is always one click from being undone.
Everything here is deviation — the small correction, always between -100 and 100. Numbers in the
hundreds come from the position column (0–1000), a different field that is
never saved to the robot.
| ID | Side | Joint | Deviation | vs saved |
|---|---|---|---|---|
| 1 | A | ankle side | — | |
| 2 | A | ankle fwd | — | |
| 3 | A | knee | — | |
| 4 | A | hip fwd | — | |
| 5 | A | hip side | — | |
| 6 | A | elbow | — | |
| 7 | A | shoulder out/in | — | |
| 8 | A | shoulder up/dn | — | |
| 9 | B | ankle side | — | |
| 10 | B | ankle fwd | — | |
| 11 | B | knee | — | |
| 12 | B | hip fwd | — | |
| 13 | B | hip side | — | |
| 14 | B | elbow | — | |
| 15 | B | shoulder out/in | — | |
| 16 | B | shoulder up/dn | — |
"vs saved" compares the screen against the newest snapshot, so you can see exactly what you are about to change before pressing Download in the Hiwonder software.
No versions saved for this robot yet.
| Pair | A | B | |
|---|---|---|---|
| ankle side | 0 | 0 | · |
| ankle fwd | 0 | 0 | · |
| knee | 0 | 0 | · |
| hip fwd | 0 | 0 | · |
| hip side | 0 | 0 | · |
| elbow | 0 | 0 | · |
| shoulder out/in | 0 | 0 | · |
| shoulder up/dn | 0 | 0 | · |
Mirrored joints usually read roughly equal and opposite. A pair with the same sign, or very different magnitudes, is worth checking on the bench.
Step 2 is the one not to skip. Deviation lives only on the robot — overwrite it and there is no undo unless you wrote it down first.